Plane estimation for contextual awareness
First Claim
1. A method for determining whether a vehicle should respond to stop signs, the method comprising:
- detecting, by one or more computing devices, an object and a location of the object from an image of the vehicle'"'"'s environment;
determining, by the one or more computing devices, that the object is a stop sign;
receiving, by the one or more computing devices, sensor data identifying locations and surfaces of objects within the vehicle'"'"'s environment including the stop sign;
determining, by the one or more computing devices, that the stop sign is a temporary stop sign by comparing the location to map information for the vehicle'"'"'s environment;
when the stop sign is determined to be temporary, processing, by the one or more computing devices, a portion of the sensor data with a predetermined volume of space around the location of the stop sign to determine whether a surface of the stop sign extends away from a second surface; and
determining, by the one or more computing devices, whether the vehicle should respond to the stop sign based on the determination of whether the surface of the stop sign extends away from the second surface.
3 Assignments
0 Petitions
Accused Products
Abstract
Aspects of the disclosure relate to classifying the status of objects. For examples, one or more computing devices detect an object from an image of a vehicle'"'"'s environment. The object is associated with a location. The one or more computing devices receive data corresponding to the surfaces of objects in the vehicle'"'"'s environment and identifying data within a region around the location of the object. The one or more computing devices also determine whether the data within the region corresponds to a planar surface extending away from an edge of the object. Based on this determination, the one or more computing devices classify the status of the object.
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Citations
20 Claims
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1. A method for determining whether a vehicle should respond to stop signs, the method comprising:
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detecting, by one or more computing devices, an object and a location of the object from an image of the vehicle'"'"'s environment; determining, by the one or more computing devices, that the object is a stop sign; receiving, by the one or more computing devices, sensor data identifying locations and surfaces of objects within the vehicle'"'"'s environment including the stop sign; determining, by the one or more computing devices, that the stop sign is a temporary stop sign by comparing the location to map information for the vehicle'"'"'s environment; when the stop sign is determined to be temporary, processing, by the one or more computing devices, a portion of the sensor data with a predetermined volume of space around the location of the stop sign to determine whether a surface of the stop sign extends away from a second surface; and determining, by the one or more computing devices, whether the vehicle should respond to the stop sign based on the determination of whether the surface of the stop sign extends away from the second surface. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A system for determining whether a vehicle should respond to stop signs, the system comprising one or more computing devices configured to:
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detecting an object and a location of the object from an image of the vehicle'"'"'s environment; determining that the object is a stop sign; receiving sensor data identifying locations and surfaces of objects within the vehicle'"'"'s environment including the stop sign; determining that the stop sign is a temporary stop sign by comparing the location to map information for the vehicle'"'"'s environment; when the stop sign is determined to be temporary, processing a portion of the sensor data with a predetermined volume of space around the location of the stop sign to determine whether a surface of the stop sign extends away from a second surface; and determining whether the vehicle should respond to the stop sign based on the determination of whether the surface of the stop sign extends away from the second surface. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16, 17, 18)
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19. A non-transitory recording medium on which instructions are stored, the instructions, when executed by one or more computing devices, cause the computing device to perform method for determining whether a vehicle should respond to stop signs, the method comprising:
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detecting an object and a location of the object from an image of the vehicle'"'"'s environment; determine that the object is a stop sign; receive sensor data identifying locations and surfaces of objects within the vehicle'"'"'s environment including the stop sign; determine that the stop sign is a temporary stop sign by comparing the location to map information for the vehicle'"'"'s environment; when the stop sign is determined to be temporary, process a portion of the sensor data with a predetermined volume of space around the location of the stop sign to determine whether a surface of the stop sign extends away from a second surface; and determine whether the vehicle should respond to the stop sign based on the determination of whether the surface of the stop sign extends away from the second surface. - View Dependent Claims (20)
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Specification